Toyota Jidosha Kabushiki Kaisha

Takuya Serai

Takashi Izuo

Koji Yamada

Mitsuo Koide

Yoshiyuki Senba

Chisao Hayashi

Kazutoshi Sukigara

An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.

Inverted pendulum type moving body and method of controlling the same

To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motorsandfor rotationally driving a right driving wheeland a left driving wheelrespectively, a passenger seatrotationally supported on mountsandthrough swing armsand, a passenger seat drive motorfor driving the passenger seat, a control portionfor determining whether the manipulation amount exceeds the threshold value or not, and a motor driverfor control the passenger seat drive motorsuch that the passenger seatis moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seatis restored after the manipulation amount exceeds the threshold value.

Inverted wheel type moving body and method of controlling same

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Toyota, Japan

Takuya Serai